modif sim doc

Author: franckgaga

example/juMPC.jl

@@ -155,7 +155,7 @@ test_mpc(linModel4, mpc)
 @time u_data, y_data, r_data, d_data = test_mpc(linModel4, mpc)
 
 
-res =  sim(mpc, x0=zeros(mpc.estim.model.nx))
+res =  sim(mpc, mpc.Hp+10, x0=zeros(mpc.estim.model.nx))
 ps = plot(res, plotD=false, plotŶminŶmax=false, plotUminUmax=false)
 display(ps)
 

src/predictive_control.jl

@@ -318,18 +318,22 @@ end
 @doc raw"""
     sim(
         mpc::PredictiveController, 
-        N  = mpc.Hp + 10, 
+        N::Int, 
         ry = mpc.estim.model.yop .+ 1, 
         d  = mpc.estim.model.dop; 
         <keyword arguments>
     )
 
 Closed-loop simulation of `mpc` controller for `N` time steps, default to setpoint bumps.
 
+See Arguments for the option list. The noise arguments are in standard deviations σ. The 
+sensor and process noises of the simulated plant are specified by `y_noise` and `x_noise` 
+arguments, respectively.
+
 # Arguments
 
 - `mpc::PredictiveController` : predictive controller to simulate
-- `N = mpc.Hp + 10` : simulation length in time steps
+- `N::Int` : simulation length in time steps
 - `ry = mpc.estim.model.yop .+ 1` : plant output setpoint ``\mathbf{r_y}`` value
 - `d = mpc.estim.model.dop` : plant measured disturbance ``\mathbf{d}`` value
 - `plant::SimModel = mpc.estim.model` : simulated plant model
@@ -339,6 +343,7 @@ Closed-loop simulation of `mpc` controller for `N` time steps, default to setpoi
 - `y_noise = zeros(plant.ny)` : additive gaussian noise on plant outputs ``\mathbf{y}``
 - `d_step  = zeros(plant.nd)` : step disturbance on measured dist. ``\mathbf{d}``
 - `d_noise = zeros(plant.nd)` : additive gaussian noise on measured dist. ``\mathbf{d}``
+- `x_noise = zeros(plant.nx)` : additive gaussian noise on plant states ``\mathbf{x}``
 - `x0 = zeros(plant.nx)` : plant initial state ``\mathbf{x}(0)``
 - `x̂0 = nothing` : `mpc.estim` state estimator initial state ``\mathbf{x̂}(0)``, if `nothing`
    then ``\mathbf{x̂}`` is initialized with [`initstate!`](@ref)
@@ -347,7 +352,7 @@ Closed-loop simulation of `mpc` controller for `N` time steps, default to setpoi
 """
 function sim(
     mpc::PredictiveController, 
-    N ::Int = mpc.Hp + 10,
+    N::Int,
     ry::Vector{<:Real} = mpc.estim.model.yop .+ 1,
     d ::Vector{<:Real} = mpc.estim.model.dop;
     plant::SimModel = mpc.estim.model,
@@ -357,6 +362,7 @@ function sim(
     y_noise::Vector{<:Real} = zeros(plant.ny),
     d_step ::Vector{<:Real} = zeros(plant.nd),
     d_noise::Vector{<:Real} = zeros(plant.nd),
+    x_noise::Vector{<:Real} = zeros(plant.nx),
     x0 = zeros(plant.nx),
     x̂0 = nothing,
     lastu = plant.uop,
@@ -396,7 +402,8 @@ function sim(
         D_data[:, i]  = d
         X_data[:, i]  = plant.x
         X̂_data[:, i]  = mpc.estim.x̂
-        updatestate!(plant, up, d)
+        x = updatestate!(plant, up, d); 
+        x[:] += x_noise.*randn(plant.nx)
         updatestate!(mpc, u, ym, d)
     end
     res = SimResult(

src/state_estim.jl

@@ -187,7 +187,6 @@ function ĥ(estim::StateEstimator, x̂, d)
 end
 
 
-
 @doc raw"""
     initstate!(estim::StateEstimator, u, ym, d=Float64[])